Agricultural implement and implement operator monitoring apparatus, systems, and methods

ABSTRACT

Apparatus, systems and methods for monitoring one or more agricultural implements during agricultural operations and for monitoring operator performance criterion. In some embodiment, the operator performance criterion may be reported to a monitor on the agricultural implement as well as a remote fleet monitor.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Non-Provisional applicationSer. No. 15/300,760, filed Sep. 26, 2016, which is a U.S. National PhaseApplication of International Application No. PCT/US2015/23949, filedApr. 1, 2015, which claims priority to U.S. Provisional Application No.61/973,593, filed Apr. 1, 2014. The contents of both applications areincorporated herein by reference as if fully set forth herein.

BACKGROUND

In recent years, the size of farming concerns has increased, increasingthe number of implements and operators required to complete agriculturaloperations within time frames constrained by agronomics, weather andsoil conditions. Existing solutions for monitoring implement performanceare ineffective. As such, there is a need for improved apparatus,systems and methods of monitoring implement and operator performance.

DESCRIPTION OF THE DRAWINGS

FIG. 1 schematically illustrates an embodiment of a harvester monitoringsystem superimposed on a combine harvester.

FIG. 2 illustrates an embodiment of a process for recommending and/ormodifying a harvester speed.

FIG. 3 illustrates an embodiment of a screen for displaying operatorperformance parameters for a harvester.

FIG. 4 illustrates an embodiment of a screen for displaying operatorperformance parameters for a plurality of harvesters.

FIG. 5 illustrates an embodiment of an operator performance parameteralert.

FIG. 6 illustrates an embodiment of a grain loss map screen.

FIG. 7 illustrates an embodiment of a monitoring system for monitoring aplurality of harvesters.

FIG. 8 illustrates an embodiment of a process for monitoring aharvester.

FIG. 9 illustrates a combine monitoring screen.

DESCRIPTION Monitoring Systems

A monitoring system 100 is illustrated in FIG. 1 schematicallysuperimposed on an agricultural implement 50, such as a combineharvester. In this embodiment, the monitoring system 100 includes agrain loss sensor 110, a yield sensor 120, a moisture sensor 130, aglobal positioning receiver 140, a monitor 160, a processing board 150,and a tachometer 170.

The grain loss sensor 110 is preferably disposed and configured tomeasure a rate of grain loss, e.g., grain discarded along with tailingsfrom the combine. As illustrative examples, the grain loss sensor maycomprise one of the embodiments disclosed in U.S. Pat. Nos. 3,935,866,4,360,998 and 6,869,355 and European Patent No. 0023500, the disclosuresof which are hereby incorporated herein in their entirety. In someembodiments a plurality of grain loss sensors is disposed to measuregrain loss at multiple post-threshing locations in the combine. In someembodiments the grain loss sensor may comprise an electromagnetic fieldtransmitter and receiver configured to detect grain loss by measuringobstruction of an electromagnetic field through which grain is discardedfrom the combine. In such embodiments, the monitor 160 preferablydetermines an amount of grain loss using an empirical database relatinggrain loss to signal criteria (e.g., amplitude, average value,frequency) of the signal generated by the electromagnetic sensor. Inother embodiments, the grain loss sensor may comprise an electromagnetictransmitter and receiver (e.g., a radar system) disposed and configuredto measure the reflectivity of grain being discarded from the combine.In such embodiments, the monitor 160 preferably determines an amount ofgrain loss using an empirical database relating grain loss to signalcriteria (e.g., amplitude, average value, frequency) of the signalgenerated by the reflectivity sensor. In embodiments in which anelectromagnetic and/or radar reflectivity sensor is used, the sensorpreferably comprises an array of transmitters and receivers disposed tomeasure the presence of grain in all or a substantial portion of thematerial flow discarded from the combine. The grain loss sensor 110 ispreferably in electronic and/or data communication with the monitor 160.

The yield sensor 120 is preferably disposed and configured to measure aflow rate of clean grain in a clean grain elevator of the harvester. Asillustrative examples, the yield sensor 120 may comprise one of theembodiments disclosed in U.S. Pat. No. 5,343,761 and InternationalPatent Application No. PCT/US2012/050341, the disclosures of both ofwhich are incorporated by reference herein. The yield sensor 120 ispreferably in electronic communication with the monitor 160.

The moisture sensor 130 preferably comprises a sensor disposed tomeasure the moisture of grain being lifted by the clean grain elevatorof the combine. For example, in some embodiments the moisture sensor 130comprises a capacitive moisture sensor such as that disclosed in U.S.Pat. No. 6,285,198, the disclosure of which is incorporated by referenceherein. The moisture sensor 130 is preferably mounted to the side of theclean grain elevator housing adjacent the location where grain piles arelifted vertically before reaching the top of the clean grain elevator.In other embodiments, the moisture sensor 130 may be mounted in thegrain tank of the combine and disposed to measure the moisture of graindeposited in the grain tank. The moisture sensor 130 is preferably indata communication with the monitor 160. The term “data communication”as used herein is intended to encompass wireless (e.g., radio-based),electrical, electronic, and other forms of digital or analog datatransmission.

The global positioning receiver 140 preferably comprises a receiverconfigured to receive a signal from the global positioning system (GPS)or similar geographical referencing system. The global positioningreceiver 140 is preferably mounted to the top of the harvester 50. Theglobal positioning receiver 140 is preferably in data communication withthe monitor 160.

The tachometer 170 is preferably configured and disposed to measure theengine speed of the combine as is known in the art. The tachometer 170is preferably in data communication with the monitor 160.

The processing board 150 preferably comprises a central processing unit(CPU) and a memory for processing and storing signals from the systemcomponents 110, 120, 130, 140, 170 and transmitting data to the monitor160. The monitor 160 is preferably in data communication with theprocessing board 150.

The monitor 160 preferably comprises a central processing unit (CPU), amemory and graphical user interface operable to display yieldmeasurements and yield maps to the operator and to accept instructionsand data from the operator. The monitor 160 is preferably mounted insidethe cab of the harvester 50 within the view and reach of the operator.The monitor 160 is preferably in data communication with a CAN network190 or other data bus of the harvester for receiving and transmittingsignals to various systems and components of the harvester.

Turning to FIG. 7, a fleet monitoring system 700 is illustratedincluding a plurality of harvesters 50 each having a monitoring system100 including a monitor 160. Each monitor 160 preferably includes acommunication device (e.g. a cellular modem) for transmission of data(e.g., grain loss data) a fleet monitor 720. Communication between thefleet monitor 720 and the monitors 160 may be enabled by communicationwith the cloud 710, data may also be stored and processed on the cloud.The fleet monitor may comprise a personal computer or tablet. The fleetmonitoring system 700 is preferably configured to display a screen ofone or more of the monitors 160 on the fleet monitor 720 (or share otherdata) using a communication protocol such as WebSocket.

Harvester Monitoring Methods

The system 100 preferably carries out an operation monitoring process800 illustrated in FIG. 8. At step 805, the system 100 preferablymeasures an operator performance parameter or operator performancecriterion. At step 810, the system 100 preferably displays an operatorperformance parameter, e.g., to the operator on the monitor 160 or toanother operator on the fleet monitor 720. At step 815, the system 100preferably compares the operator performance parameter to a thresholdvalue. At step 820, the system 100 preferably sends and displays analert (e.g., to the operator on the monitor 160 or to another operatoron the fleet monitor 720) if the operator performance parameter fails tomeet the threshold. It should be appreciated that some thresholdscomprise a minimum desired value while others may comprise a maximumdesired value.

The monitor 160 and/or the fleet monitor 720 preferably display a screen300 including one or more operator performance parameters as illustratedin FIG. 3. The screen 300 may comprise an operator scorecard including aplurality of operator scores. The screen 300 preferably includes a table310 comprising a set of operator performance parameters. In theembodiment of FIG. 3, a value of each operator performance parameter isdisplayed for a plurality of times (e.g., every half hour during theharvesting operation).

The operator performance parameters displayed in table 310 preferablyinclude separator adjustment level, header adjustment level,productivity and grain loss. The operator performance parameters mayalso include an operational speed of the separator.

In the table 310 of FIG. 3, the “Separator” column displays separatoradjustment ranges at a plurality of times during operation. Theseparator adjustment range is preferably calculated by determining arange of remote adjustment of one or more separator components, e.g.,concave clearance, rotor speed, fan speed, shoe (i.e., lower sieve)clearance, or chaffer (i.e., upper sieve) clearance. The “Header” columndisplays header adjustment ranges at a plurality of times duringoperation. The header adjustment range is preferably calculated bydetermining a range of remote adjustment of one or more headercomponents, e.g., feeder house speed, feeder height pitch, feeder houseroll, deck plate gap, reel speed, reel fore/aft position, and reelheight. The remote adjustments of header and separator components arepreferably determined based on command or measurement signals on the CANnetwork 190 of the harvester or by direct measurement.

In the illustrated embodiment, ranges of the adjustment of are displayedin the “Separator” and “Header” columns, e.g., as calculated by dividingthe difference between maximum and minimum values by the minimum valueover a predetermined time period such as a half hour. In otherembodiments, the frequency of separator and header adjustments (e.g., byamounts greater than 1%) is displayed instead of or in addition to therange of adjustment. In the illustrated embodiment, the range ofseparator and header adjustments is represented by a pattern or colorassociated with a range of adjustment ranges displayed in a legend 320;in other embodiments, a numerical value of the adjustment isadditionally or alternatively displayed.

In the table 310 of FIG. 3, the “Temperature” column displaysatmospheric temperature at various times during the operation. In otherembodiments, other weather data are reported in the table 310, e.g., dewpoint, relative humidity, cloud cover, and wind speed. The weather dataare preferably obtained from the cloud 710, e.g., from a weatherdatabase.

In the table 310 of FIG. 3, the “Productivity” column displays a measureof harvest productivity, e.g., determined by calculating the areaharvested by the combine during a predetermined time period such as onehour. The area harvested by the combine may be determined as is known inthe art. In other examples, the measure of harvest productivity may bemeasured by calculating the bushels of grain harvested during aparticular time period or the amount of fuel used during a predeterminedtime period.

In the table 310 of FIG. 3, the “Loss” column displays a measure ofgrain loss at various times during the operation. The grain lossmeasurements are preferably determined from the signal generated by thegrain loss sensor 110. The grain loss measurements may comprise grainloss measured at the shoe (i.e., lower sieve) or at the chaffer (i.e.,upper sieve). The grain loss measurements may be reported as apercentage (as illustrated) or as an absolute value (e.g., bushels peracre).

It should be appreciated that the rows of data displayed in the table310 correspond to the same or nearly the same time during operation,allowing the operator to compare weather and other conditions to thecorresponding operator performance criteria.

The screen 300 also preferably includes a machine details window 330displaying harvester characteristics such as those illustrated in FIG.3. The harvester characteristics may be entered for each harvester viathe monitor 160.

Turning to FIG. 4, the fleet monitor 720 (and/or the monitor 160)preferably displays a screen 400 for displaying operator scores of aplurality of combines. The screen 400 may comprise an operator scorecardincluding a plurality of operator scores. The columns of table 410include information similar to that displayed in FIG. 3, except that asingle row displays a single value for a particular harvester. Data ineach row preferably reflects a current value or an average value over aperiod during the operation (e.g., the current day, the time spent inthe current field, or the previous half hour). The column labeled“Adjustment Frequency” displays an assessment of the frequency ofadjustment (e.g., “High”, “Normal”, and “Low” may reflect adjustmentsgreater than 1% at greater than 10 times per hour, between 5 and 10times per hour, and less than 5 times per hour, respectively). A legend420 relates a plurality of adjustment ranges to a color or pattern aswith the legend 320. Tapping or clicking on a row of data (or theharvester number in the “Combine” column) preferably instructs the fleetmonitor 720 to display the screen 300 for that harvester associated withthat row.

In the table 410 of screen 400, the column labeled “Productivity Index”preferably includes a current productivity index determined by thesystem 100 for each harvester. The productivity index preferablyreflects the productivity of the operation. In some embodiments, theproductivity index is calculated using the relation:

$\text{Productivity Index} = \frac{B}{T}$

-   -   Where: B=bushels harvested over a period T, preferably        determined by integrating the flow rate reported by the yield        sensor 120 over the period T.

In some embodiments, the value of B is corrected by removing the amountof grain loss reported by the grain loss sensor 110. Where grain loss isreported as a fraction, bushels harvested B are preferably multiplied byfractional grain loss. Where grain loss is reported as a number ofbushels lost, the number of bushels lost is preferably subtracted fromthe bushels harvested B. The period T may be a period on the order of asecond, a minute, a half hour, or an hour prior to the current time, ormay comprise the time spent harvesting in the field or during thecurrent day.

In some embodiments, the time period used to calculate the productivityindex preferably excludes periods when the harvester is stopped and/ornot harvesting. For example, the system 100 preferably excludes datagathered during times when the harvester speed (as reported by the GPSreceiver or a radar speed sensor) is less than a threshold speed (e.g.,0.5 miles per hour). Additionally, system 100 preferably excludes datagathered during times when the harvester is not traveling across apreviously unharvested area, when the flow rate reported by the yieldsensor 120 is less than a threshold (e.g., 1 bushel per second), or whena crop-engaging component of the combine (e.g., the header or acomponent thereof) is not in an operative mode.

Turning to FIG. 5, an exemplary embodiment of an alert generated atsteps 815, 820 of the process 800 described above is illustrated. Thefleet monitor 720 (and/or the monitor 160) preferably displays an alertscreen 500 including one or more operator performance criteria that haveexceeded the threshold of step 815. The screen 500 comprises an alertfor one of the harvesters (“Combine 2” in the illustrated embodiment).The illustrated table 510 includes the following operator performancecriteria: “Engine Drag” reports the number of times in which the enginespeed reported by tachometer 170 is below a predetermined threshold;“Average Loss” reports a percentage grain loss as described above;“Adjustment Range” reports a range of separator or header componentadjustment as described above; and “Adjustment Frequency” reports afrequency of separator or header component adjustment as describedabove. A border 512 or other indicator preferably indicates one or moreoperator performance criteria that have exceeded the associatedthreshold of step 815. Selection of a button 514 or other selectioninterface preferably prompts the fleet monitor 720 to display the screen300 for that screen.

Turning to FIG. 9, the fleet monitor 720 (and/or the monitor 160)preferably displays a settings screen 900. The settings screenpreferably displays the current machine settings of various componentsof one or more harvesters. In the illustrated embodiment, a table 910displays current separator component settings. The screen 900 preferablydisplays a plurality of separator component settings including concaveclearance, rotor speed, fan speed, shoe (lower sieve) clearance, andchaffer (upper sieve) clearance. In the illustrated embodiment, a table920 displays current header component settings. The screen 900preferably displays a plurality of header component settings includingfeeder house speed, pitch and roll; deck plate gap: and reel speed,fore/aft position and height. The system 100 preferably determinescomponent settings based on signals sent from or to each component viathe CAN network 190.

Grain Loss Mapping

Turning to FIG. 6, the fleet monitor 720 (and/or the monitor 160)preferably displays a grain loss map screen 600 including mapped spatialregions associated with a plurality of ranges of grain loss. The colorsor patterns of the regions 622, 624, 626 are preferably associated withlegend ranges 612, 614, 616 of a legend 610. The current location anddirection of the harvester is preferably indicated by a harvester icon10. An interface 680 preferably allows the user to request other maps orscreens. The map screen 600 also preferably includes a time plot window690 plotting data points 692 relating grain loss to times during theoperation.

Grain Loss Sensor Sensitivity Automation

In some embodiments, the amount of grain loss reported and/or mapped isdetermined based on the amplitude of the grain loss sensor signal andone or more secondary grain loss measurement criteria.

In some such embodiments, the secondary grain loss measurement criteriacomprise a crop type (e.g., identified by the operator via the graphicaluser interface). The secondary grain loss measurement criteria may alsocomprise a secondary grain loss sensor signal criterion such as thefrequency of the grain loss sensor signal. In some embodiments, themonitor 160 may determine a multiplier to be applied to the raw signalamplitude based on an empirical database relating secondary grain losssensor signal criterion values (e.g., signal frequency values) tomultipliers for the selected crop type. The multiplier is preferablythen applied to the signal amplitude to determine the reported grainloss.

Speed Recommendation and Control

Turning to FIG. 2, the monitoring system 100 preferably carries out aprocess 200 for recommending and/or controlling a speed of theharvester.

At step 205, the system 100 preferably estimates a harvested crop flowrate. In some embodiments the harvested crop flow rate is estimatedbased on the current flow rate reported by the yield sensor 120.However, because the flow rate measured by the yield sensor is generallydelayed relative to the yield being harvested, the currently reportedflow rate does not correspond to the yield of the crop being taken intothe header. Thus in some embodiments the harvested crop flow rate isestimated based on the yield previously measured and associated with alocation adjacent to current position of the combine header; forexample, the flow rate may be estimated to have the same value as thatpreviously measured and associated with a location adjacent to thecurrent position of the combine header, e.g., a location harvestedduring the immediately previous pass and immediately adjacent to theheader. When no adjacent location has been harvested, the flow rate maybe determined based on the rate reported by the yield sensor 120 asdescribed above. In still other embodiments, crop health imagery of thefield (e.g., aerial or satellite NDVI imagery taken during the currentseason) may be used to estimate the local flow rate; for example, themonitor may have a lookup table stored in memory which relates NDVIlevels to estimated flow rates. In other embodiments, the flow rateestimated based on crop health imagery may be scaled based on thedifference between the imagery-based flow rate estimate for a locationalready harvested and the flow rate associated with the location basedon the signal reported by the yield sensor 120; for example, if theimagery-based estimate has over-predicted by 10% for a set of locationspreviously harvested in the field currently being harvested, the system100 may reduce the current imagery-based estimate by 10%.

However the current flow rate is determined, a desired speed ispreferably determined based on the estimated flow rate at step 210. Themonitor 160 preferably has a lookup table stored in memory relatingdesired speeds to estimated flow rates; desired speeds preferablyincrease (e.g., in a linear fashion) with estimated flow rates. In otherembodiments, the desired speed may be selected based on other criteriaof the current harvesting operation, e.g., grain loss.

At step 215, the harvester speed is preferably adjusted to the desiredspeed. In some embodiments, the desired speed is displayed on themonitor, prompting the operator to adjust the harvester speed to thedesired speed. In other embodiments, the monitor 160 sends a speedcommand to the harvester speed control system (e.g. via the CAN network190) such that the speed control system adjusts the harvester speed tothe desired speed unless the operator overrides the command or the speedcontrol system.

Although the foregoing description is presented with respect to combineharvesters, it should be appreciated that other implements, e.g.,seeding and liquid application implements may be monitored usingsystems, methods and apparatus similar to those disclosed herein.

The foregoing description is presented to enable one of ordinary skillin the art to make and use the invention and is provided in the contextof a patent application and its requirements. Various modifications tothe preferred embodiment of the apparatus, and the general principlesand features of the system and methods described herein will be readilyapparent to those of skill in the art. Thus, the present invention isnot to be limited to the embodiments of the apparatus, system andmethods described above and illustrated in the drawing figures, but isto be accorded the widest scope consistent with the spirit and scope ofthe appended claims.

1. A method for monitoring operator performance during operation of acombine harvester, comprising: monitoring an operating characteristic ofan agricultural implement during performance of an agriculturaloperation; determining a productivity index related to a grain lossmeasurement based on said monitored operating characteristic;determining that the productivity index fails to meet a stored thresholdvalue and, in response, sending an alert to an operator computingdevice.
 2. The method of claim 1, further comprising determining thegrain loss measurement based on an amplitude of a grain loss sensorsignal and one or more secondary grain loss measurement criteria.
 3. Themethod of claim 2, wherein the one or more secondary grain lossmeasurement criteria comprise a frequency of the grain loss sensorsignal and wherein determining the grain loss measurement comprises,using an empirical database to lookup a multiplier for the frequency ofthe grain loss sensor signal and applying the multiplier to theamplitude of the grain loss sensor signal.
 4. The method of claim 2,wherein the one or more secondary grain loss measurement criteriacomprise a crop type.
 5. The method of claim 1, wherein said operatingcharacteristic is a separator component adjustment range.
 6. The methodof claim 1, wherein said operating characteristic is a header componentadjustment frequency.
 7. The method of claim 1, wherein said operatingcharacteristic is an engine drag measurement.
 8. The method of claim 1,wherein said productivity index is further related to a rate at whichharvesting operations have been completed.
 9. A method comprising:monitoring an operating characteristic of an agricultural implementduring performance of an agricultural operation; determining a grainloss measurement based on said monitored operating characteristic;generating a grain loss map based, at least in part, on the grain lossmeasurement; causing display, on the operator computing device, of thegrain loss map.
 10. The method of claim 9, wherein determining the grainloss measurement comprises determining the grain loss measurement basedon an amplitude of a grain loss sensor signal and one or more secondarygrain loss measurement criteria.
 11. The method of claim 10, wherein theone or more secondary grain loss measurement criteria comprise afrequency of the grain loss sensor signal and wherein determining thegrain loss measurement comprises, using an empirical database to lookupa multiplier for the frequency of the grain loss sensor signal andapplying the multiplier to the amplitude of the grain loss sensorsignal.
 12. The method of claim 10, wherein the one or more secondarygrain loss measurement criteria comprise a crop type.